Added missing method of the class.

Change-Id: Ic03ec222e69efc7adde4680dc5612896eac562fe
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
index c64242d..32e852e 100644 (file)
--- a/src/can/can-bus-dev.cpp
+++ b/src/can/can-bus-dev.cpp
@@ -1,27 +1,34 @@
 /*
- * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+* Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+* Author "Romain Forlot" <romain.forlot@iot.bzh>
+* Author "Loïc Collignon" <loic.collignon@iot.bzh>
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*       http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*/
+
+
 
 #include <string.h>
-#include <linux/can/raw.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
+#include <linux/can/raw.h>
+
+#include <mutex>
 
 #include "can-bus-dev.hpp"
+
+#include "can-bus.hpp"
+#include "can-message.hpp"
 #include "low-can-binding.hpp"
 
 /// @brief Class constructor
@@ -72,7 +79,9 @@ int can_bus_dev_t::open()
                ::strcpy(ifr.ifr_name, device_name_.c_str());
                DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
                if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
+               {
                        ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
+               }
                else
                {
                        txAddress_.can_family = AF_CAN;
@@ -80,13 +89,107 @@ int can_bus_dev_t::open()
 
                        // And bind it to txAddress
                        DEBUG(binder_interface, "Bind the socket");
-                       if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+                       if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
                                ERROR(binder_interface, "Bind failed. %s", strerror(errno));
-                       else
-                               return 0;
+                       else return 0;
                }
                close();
        }
        else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
        return -1;
 }
+
+/// @brief Close the bus.
+void can_bus_dev_t::close()
+{
+       can_socket_.close();
+}
+
+/// @brief Read the can socket and retrieve canfd_frame
+std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
+{
+       ssize_t nbytes;
+       struct canfd_frame cfd;
+
+       // Test that socket is really opened
+       if (can_socket_)
+       {
+               ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
+               is_running_ = false;
+       }
+
+       nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
+
+       // if we did not fit into CAN sized messages then stop_reading.
+       if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+       {
+               if (errno == ENETDOWN)
+                       ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
+               ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+               ::memset(&cfd, 0, sizeof(cfd));
+       }
+
+       DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
+                                                       cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
+       return can_message_t::convert_to_canfd_frame(cfd, nbytes);
+}
+
+/// @brief start reading threads and set flag is_running_
+/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
+{
+       DEBUG(binder_interface, "Launching reading thread");
+       is_running_ = true;
+       th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+       if(!th_reading_.joinable())
+               is_running_ = false;
+}
+
+/// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
+void can_bus_dev_t::stop_reading()
+{
+       is_running_ = false;
+}
+
+/// @brief Thread function used to read the can socket.
+/// @param[in] can_bus object to be used to read the can socket
+void can_bus_dev_t::can_reader(can_bus_t& can_bus)
+{
+       while(is_running_)
+       {
+               can_message_t msg = read();
+               {
+                       std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
+                       can_bus.push_new_can_message(msg);
+               }
+               can_bus.get_new_can_message_cv().notify_one();
+       }
+}
+
+/// @brief Send a can message from a can_message_t object.
+/// @param[in] can_msg the can message object to send 
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+{
+       ssize_t nbytes;
+       canfd_frame f;
+
+       f = can_msg.convert_to_canfd_frame();
+
+       if(can_socket_)
+       {
+               nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
+                       (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+               if (nbytes == -1)
+               {
+                       ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+                       return -1;
+               }
+               return (int)nbytes;
+       }
+       else
+       {
+               ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+               open();
+       }
+       return 0;
+}